4.5 Globalist versus Localist Representations 83
SENSORY WORLD MODELING
BEHAVIOR GENERATION PROCESSING . VALUE JUDGMENT
ES MAPS — Section Task Entities, Events Labeled Features Command Attributes IMAGES Attributes Cost, Risk Labeled Regions Plants Sere Attributes Relationships
status
we SECTION simulator | PLANNER
- 10 min horizon
groups
SP5 classification confirm grouping Plan pole alia EXECUTOR
| Vehicle WM VEHICLE simulator | PLANNER
grouping attention
SP4 classification
confirm grouping - 1 min horizon filter 500 m range compute attributes objects 4 m resolution i grouping EXECUTOR attention
simulator_| PLANNER - 5s horizon Plan
SP3 classification a IO. | as
confirm grouping filter
compute attributes grouping attention
EXECUTOR
WM PRIMITIVE simulator | PLANNER
features
SP2 classification
‘confirm grouping 500 ms ho fitter labeled é -] compute attnbutes. features m range Plan grouping 4 cm resolution attention EXECUTOR —s status om vehicle state sensor state SERVO coordinate . we PLANNER s labeled transformations simulator pixel attributes pixels 50 ms horizon actuator state } [ SP1 compute attributes, filter, classification EXECUTOR ladar stereoCCD = stereo FLIR color CCD radar navigational actuator signals signals signals signals signals signals signals SENSORS ACTUATOR
Fig. 4.12: Albus’s perceptual, motor and modeling hierarchies
4.5.6 Joshua Blue
Sam Adams and his colleagues at IBM have created a cognitive architecture called Joshua Blue [AABLO2], which has some significant similarities to CogPrime. Similar to our current research direction with CogPrime, Joshua Blue was created with loose emulation of child cognitive development in mind; and, also similar to CogPrime, it features a number of cognitive processes acting on a common neural-symbolic knowledge store. The specific cognitive processes involved in Joshua Blue and CogPrime are not particularly similar, however. At time of writing (2012)
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